|An Efficient Model Predictive Control for Trajectory Tracking of Wheeled Inverted Pendulum Vehicles with Various Physical Constraints
Ming Yue*, Cong An, and Jian-zhong Sun
International Journal of Control, Automation, and Systems, vol. 16, no. 1, pp.265-274, 2018
Abstract : "This study presents a robust model predictive control (MPC) strategy to handle the trajectory tracking
problem for a underactuated two-wheeled inverted pendulum (WIP) vehicle, in addition to taking various physical
constraints into account. To begin with, a saturated trajectory generator is proposed to produce the desired velocities
by which all posture tracking errors converge to the compact sets as well as the saturation of velocities being guaranteed.
In addition, a MPC approach is put up forward after the approximate feedback linearization is performed
to decrease the burden of computation and increase the realtime performance of the control system. Particularly,
various physical constraints can be readily assured by the presented MPC method although the equilibrium of WIP
vehicle is unstable. Meanwhile, to validate the robustness and availability of the proposed approach, initial errors,
pulse disturbance and random noise are introduced to test the control performance of the closed-loop system in the
simulation environment. The results from both theoretical analysis and simulation show that the proposed control
strategy are effective and feasible for practical implementation."
Feedback linearization, model predictive control, physical constraint, trajectory tracking, WIP vehicle.
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